Methods for controlling object sorting and sequencing

ABSTRACT

Methods for controlling the sorting and sequencing of objects are provided. In some embodiments, a method includes receiving sensor data of a plurality of dental appliances, each dental appliance associated with an identifier including (a) group data indicating a group to which the dental appliance belongs, and (b) sequence data indicating a sequential position for the dental appliance within the group. The method can include controlling a sorting cell to direct each dental appliance into one of a plurality of buffer locations based on the group data for the dental appliance, where each buffer location is configured to hold a set of dental appliances belonging to the same group; and controlling a sequencing cell to sequence the set of dental appliances associated with each buffer location by placing each dental appliance into a position within the corresponding set of dental appliances based on the sequence data for the dental appliance.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.17/647,333, filed Jan. 6, 2022; which is a continuation of U.S. patentapplication Ser. No. 17/011,577, filed Sep. 3, 2020, now U.S. Pat. No.11,247,242; which is a continuation of U.S. patent application Ser. No.16/155,519, filed Oct. 9, 2018, now U.S. Pat. No. 10,766,055; which is acontinuation of U.S. patent application Ser. No. 14/874,083, filed Oct.2, 2015, now U.S. Pat. No. 10,099,256; which is a continuation of U.S.patent application Ser. No. 13/775,692, filed Feb. 25, 2013, now U.S.Pat. No. 9,152,145; which is a continuation of U.S. patent applicationSer. No. 13/209,222, filed Aug. 12, 2011, now U.S. Pat. No. 8,383,977;which is a continuation of U.S. patent application Ser. No. 11/553,330,filed Oct. 26, 2006, now U.S. Pat. No. 8,030,588; the disclosures ofwhich are incorporated herein in their entirety.

BACKGROUND 1. Field of the Invention

This invention relates to the sorting of objects, and more particularlyto the sorting of mass produced, customized objects.

2. Description of the Related Art

Sorting devices are known for separately guiding finished parts todifferent discharge areas adjacent to tooling or packaging machines.Typically, sorting devices operate as a post-processing tool that isused to sort finished pieces.

Generally, finished pieces are identified on the basis of the quality ofthe material or the type of material. For example, only parts possessinga similar quality of material are selected and packaged together. Thepackaging station performs similar operations on similar parts. In mostinstances, parts having unique or customized features that must bepackaged together are not readily accommodated. Presently, the sortingand packaging of unique, customized parts must be done manually toensure accuracy.

Accordingly, there is a need to provide a simple and efficient sortingand selecting system that brings a variety of associated objectstogether during a production process with resulting improvements inefficiency and productivity.

SUMMARY

The present invention provides a system and associated method forsorting mass produced, customized objects.

In one aspect of the invention, a part sorting process is providedincluding loading a plurality of randomly presented parts; sorting atleast one selected part of the randomly presented parts into a group ofassociated parts; and sequencing the group of associated parts.

In yet another aspect of the invention, a system is provided for sortingparts. The invention includes a system for receiving and continuouslycirculating a plurality of randomly presented parts. The invention alsoincludes a sorting buffer for accumulating selected parts from theplurality of randomly presented parts in an assigned buffer location,and a sequencing system for sequencing the accumulated selected parts.

A more complete understanding of the invention can be obtained byreference to the following detailed description of the embodimentsthereof in connection with the attached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other objects, features and advantages of the presentinvention will become more apparent from the following detaileddescription when taken in conjunction with the accompanying drawings inwhich:

FIG. 1A is a flowchart of a sorting system process in accordance with anembodiment of the present invention;

FIG. 1B is a simplified illustration of a dental aligner on a carrier inaccordance with an embodiment of the present invention;

FIG. 2 is a simplified illustration of components of a load cell of asorting system in accordance with an embodiment of the presentinvention;

FIGS. 3A-3D are simplified illustrations of components of the load cellof FIG. 2 in accordance with an embodiment of the present invention;

FIG. 4 is a simplified illustration of an indexing table unloading partsand placing them on carriers in accordance with an embodiment of thepresent invention;

FIG. 5 is a simplified illustration of a reader in accordance with anembodiment of the present invention;

FIG. 6A is a simplified illustration of components of a sorting buffercell in accordance with an embodiment of the present invention;

FIG. 6B is a simplified illustration of the operation of a bufferconveyor associated with the sorting buffer cell in FIG. 6A inaccordance with an embodiment of the present invention;

FIG. 7 is a simplified illustration of components of a puck sequencingcell in accordance with an embodiment of the present invention;

FIG. 8 is a simplified illustration of a storage cell in accordance withan embodiment of the present invention; and

FIG. 9 is a simplified illustration of a quality control station inaccordance with an embodiment of the present invention.

DETAILED DESCRIPTION

In the detailed description of the invention that follows, the inventionis described primarily in the context of a system and method for sortingmass produced customized dental appliances, such as dental aligners. Itshould be understood, however, that the system and processes of thepresent invention may be employed in the sorting of any of various typesof items, work pieces or parts, such as prosthetic body parts,implantable hearing aids, eyeglass lenses and the like.

FIG. 1A is a flowchart representing manufacturing cells of a sortingsystem 100 in accordance with an embodiment of the present invention. Inpre-processing cell 102, if necessary, parts may undergo apre-processing step in which the parts are cleaned, sanitized, orotherwise prepared for traversing sorting system 100.

Load cell 104 represents a process for the introduction of a batch orplurality of items or parts that are manually (or alternatively,automatically) loaded into sorting system. 100 via a bulk supplypre-feeder mechanism. The pre-feeder mechanism delivers parts to a partdistribution and circulation system, which includes a system ofconveyors that distribute the parts over a conveyor for presentation toa vision system. In one embodiment, the quantity of parts delivered maybe a metered quantity of the entire batch of parts deliveredperiodically to the part distribution and circulation system to avoidoverwhelming the system.

The vision system, including a robot picker, identifies the partlocation and orientation, then picks up and places each part onto anindexing table at a loading position. In one embodiment, the robotpicker in conjunction with the vision system selects only parts having adesired top/bottom up orientation and places them on the indexing table.In yet another embodiment, the robot picker in conjunction with thevision system selects a part and manipulates the part, if necessary,until the part has the desired orientation before placing the part ontothe indexing table. For example, the robot picker may pick a part havinga bottom up orientation and then rotate the part until it has a top uporientation before placing the part onto the indexing table.

Alternatively, as described in greater detail below, the robot pickermay place a part on the indexing table without regard to the part'sorientation. The indexing table then indexes to a vision station so thatthe part can be scanned for top/bottom orientation. Once the partorientation is determined, the indexing table then indexes to areorientation station, which includes a mechanism capable of rotatingthe part, as required, to achieve a desired top/bottom up orientation.

Once properly oriented, the indexing table indexes to a ‘unique code’read station so that a unique code of each part can be read andultimately mapped to a particular corresponding part carrier or “puck.”After the indexing table indexes to an unload station, the properlyoriented and identified parts are unloaded by a pick-and-place unit orthe equivalent into the corresponding pucks.

In one embodiment, each puck may be identified by a radio frequencyidentification device (RFID). The puck's RFID and the unique code are“mapped” to each other and the data is stored in a database. Beforeexiting load cell 104, each puck is scanned by a subsequent visionsystem to verify “part presence.”

The pucks are conveyed from load cell 104 to a sorting buffer cell 106.Alternatively, the pucks may be conveyed to an exceptions handling cell108, which may include one or more manual quality assurance stations(QAS).

In one embodiment of sorting buffer cell 106, the pucks travel to awalking beam past an RF reader or the equivalent. The RF readeridentifies the unique code number and temporarily assigns the uniquecode to one of a number of buffer lanes. If the number of parts to beincluded in one group requires more than one lane, the group may belogically split among buffer lanes to assure that the parts aresequenced correctly. The walking beam advances pucks in a controlledmotion to the head of the sorting buffer lanes. Once a puck gets to itsassigned lane, the puck is pushed out of the path of the walking beamand into its assigned lane. Pucks are accumulated in their assignedlanes until all parts in the batch are sorted. When a lane is filledwith a completed group or case of associated parts, the group isreleased to the unload section of sorting buffer cell 106 when space isavailable. Buffer lanes are then released one at a time from the unloadsection of sorting buffer cell 106.

Routing system cell 110 includes a series of conveyors with merge anddivert units routing pucks between the cells throughout sorting system100. For example, the conveyors rout pucks from load cell 104 to sortingbuffer cell 106 or exceptions handling cell 108 and back to load cell104, from sorting buffer cell 106 to storage cell 112 and/or pucksequencing cell 114, and from puck sequencing cell 114 to packaging cell116 or to exceptions handling cell 108 and back to load ceil 104. Notethat exceptions handling cell 108 may include more than one QAS, thusparts that are routed to exceptions handling cell 108 during variousstages of the sorting process may be routed to the QAS associated withthat particular stage.

Incomplete groups are routed from sorting buffer cell 106 to theincomplete case storage cell 112. In one embodiment, the pucks move viaa conveyor, stop at an unloading station and are picked-and-placed on toa pallet. When the pallet is loaded it travels to an inserter/extractor(I/E) station. The pallet is transferred to the I/E via a standard liftand transfer. The I/E then moves the pallet to a shelf in a horizontalcarousel for storage. When the last missing part or parts of a grouparrives at incomplete case storage cell 112, the I/E picks the palletswith the associated parts and places the pallets onto the conveyor fortransport to a loading station. At the loading station, the group iscompleted and is then moved to puck sequencing cell 114.

At puck sequencing cell 114, the pucks are transferred to a walking beamand moved past a series of lanes. The lanes of the conveyor areassigned, for example, 1 through 50 and when each puck is in front ofthe proper lane it is transferred onto a stop/start take away conveyor.Once all pucks are transferred they are released by the conveyor wherethey then travel in the proper sequence to packaging cell 116.

If a puck is marked “no read” at load cell 104 or sorting buffer cell106, the puck is diverted to exceptions handling cell 108, whichincludes more than one QAS positioned throughout sorting system 100. Inone embodiment, the manual QAS includes an RF reader provided to read anID tag disposed on the puck. A quality assurance computer terminal isused to allow an operator to manually enter an ID number of the puck andthus re-initialize the puck into sorting system 100. The operator thenreleases the puck to be merged back into the main line ahead of sortingbuffer cell 106. The manual QAS also introduces direct batches ofproducts that do not enter sorting system 100 through load cell 104.

Generally, in one embodiment of the present invention, the massproduced, customized objects are dental appliances, referred to as adental aligners, such as the dental aligner illustrated in FIG. 1B.Dental aligner 118 may be formed from a dental mold made from acomputerized model representing digitally a patient's dental geometryand tooth configuration or, alternatively, from an impression made of apatient's teeth.

The computerized model of the patient's teeth may be digitallymanipulated to portray a new tooth arrangement (i.e. an orthodonticprescription) and a mold may be produced to reflect each successivearrangement in the prescription. This may be repeated any number oftimes to derive a number of molds with differing tooth arrangements.

The series of computer models or digital data sets representing thedental geometries or orthodontic prescription associated with the seriesof molds is used to fabricate a series of dental aligners by disposingthe dental molds in a thermoplastic fabrication machine. The series ofdental aligners form a group of associated aligners that need to besorted from other groups of associated aligners and properly sequencedbefore packaging.

In one exemplary embodiment, as shown in FIG. 1B, aligner 118 may befabricated to fit within a 75 mm diameter, and have a weight less than 8ounces. Aligner 118 may be laser marked with patient information andaligner sequence with an upper or lower designation.

Dental aligner 118 may be of the type described, for example, in USPatent Application Publication No. 2005/0082703, which is incorporatedherein by reference.

1. Load Cell

FIG. 2 is a simplified illustration of load cell 104 of sorting system100 in accordance with an embodiment of the present invention. In oneembodiment, load cell 104 includes a bulk supply pre-feeder 202, a partcirculation system 204, a robot loader 208, including or working inconjunction with a vision system 210, and an indexing table 214.

In one operational embodiment, a batch of parts 201, such as aligners118 (FIG. 1B), are loaded into bulk supply pre-feeder 202. In oneembodiment, as many as approximately 500 aligners 118 may be fed intobulk supply pre-feeder 202 in one operation. In one embodiment, aligners118 arrive at bulk supply pre-feeder 202 after pre-processing or apre-treatment for example, after having been cleaned, tumbled anddisinfected.

In one embodiment, part circulation system 204 includes a meteringconveyor 216, a vision belt conveyor 206, a return conveyor 218, and areturn elevating bucket assembly 220. Bulk supply pre-feeder 202 maydispense a portion of the batch of aligners 118 in metered quantitiesonto metering conveyor 216 based on a signal from a level sensor 203mounted proximate to or on metering conveyor 216. Level sensor 203senses gaps between bunches of aligners 118 that have been dispensed onmetering conveyor 216. For example, when the gaps become larger than apredetermined size, bulk supply pre-feeder 202 is made to dispense morealigners 118 into the system. As described below, aligners 118 that aredisposed onto metering conveyor 216 from the return elevating bucketassembly 220 also create a portion of the bunches of aligners.

An exemplary bulk supply pre-feeder 202 may be a three and a half (3-V2)cubic foot pre-feeder, which is available as Farason Model GF-3.6, fromFarason Corporation of Pennsylvania.

In one embodiment, to ensure that aligners 118 are distributed evenlyonto vision belt conveyor 206 and are separated in a single layer, oneor more rotating paddlewheels 222 with pliable spokes are mountedadjacent the end of metering conveyor 216 and the beginning of visionbelt conveyor 206. The pliable spokes may be mounted on a horizontalaxle or, alternatively, on one more vertical spindles. Paddlewheels 222,receive aligners 118, such that the pliable spokes separate aligners 118to keep aligners 118 from grouping in large clumps onto vision beltconveyor 206. This increases the number of “pickable” parts dispersedonto vision belt conveyor 206.

Alternatively, parts 201 can be delivered directly from bulk supplypre-feeder 202 onto vision belt conveyor 206. In this alternativeembodiment, bulk supply pre-feeder 202 may include a funnel shapeddispenser that allows parts 201 to be dispensed only along a singlevertical plane, thus ensuring that the parts are dispersed in aseparated manner.

Paddlewheels 222 distribute or spread aligners 118 over vision beltconveyor 206 for presentation to robot loader 208 in combination with avision system 210 (hereinafter, in combination, “robot system 212”). Asdescribed below, aligners 118 are picked up from vision belt conveyor206 and placed onto indexing table 214 by robot system 212. A suitabletype of robot system 212 is available as an Adept Cobra 800 Scara Robotwith Adept Vision.

Aligners 118 not removed by robot system 212 fall off vision beltconveyor 206 and return to metering conveyor 216 via the return conveyor218 and return elevating bucket assembly 220 so that aligners 118 can becirculated and thus represented to robot system 212.

In operation, returning aligners 118 are discharged off the end ofreturn conveyor 218 into return elevating bucket 224. The bucket cyclesmay be based on a level sensor 226 mounted in return elevating bucket224, which indicates when enough parts (e.g. aligners) have beencollected for return to metering conveyor 216. In one embodiment, returnelevating bucket 224 elevates aligners 118 (as shown in phantom) anddispenses them onto metering conveyor 216, which may be mounted directlyoverhead and parallel to vision belt conveyor 206 and return conveyor218. Metering conveyor 216 is cycled on and off to meter aligners 118onto vision belt conveyor 206. In one embodiment, parts notunidentifiable by robot system 212 are rejected into a manual removalhopper 230 at the end of the operation for manual identification at amanual QAS.

Robot system 212 identifies the location and orientation of part 201 onvision belt conveyor 206, picks up and places each part 201 ontoindexing table 214 at the loading position.

When no pickable parts are available to be processed from the currentbatch of aligners 118, the cycle for the batch is considered complete.The machine may automatically switch to “cleanout,” which means bucket224 remains in an. elevated location proximate to metering conveyor 116.Any remaining rogue parts 201 (i.e. aligners 118) then exit the back ofthe machine into manual removal hopper 230 for manual retrieval.

An exemplary type of part circulation system 204, including a meteringconveyor, a vision conveyor, a return conveyor, and a return elevatingbucket assembly, is available as Farason Model SRFF-30 FaraFeeder, fromFarason Corporation of Pennsylvania.

As shown in FIG. 3A, indexing table 214 includes part holders 302, whichare designed shaped and configured to receive and hold parts 201. In oneembodiment, part holder 302 may be designed and shaped to hold andreceive aligners 118.

As shown in FIG. 3B, indexing table 214 may receive aligners 118 in anytop-up or top-down orientation. Accordingly, to ensure that aligners 118axe in an acceptable orientation, indexing table 214 indexes to a visionstation 304 so that aligners 118 may be scanned for top-up or to downorientation. In operation, vision station 304 identifies the top-up ortop-down orientation of aligner 118.

As shown in FIG. 3C, if it has been determined that aligner 118 is notin a desired orientation, when indexing table 214 indexes toreorientation station 306, at least one orienting device 308 is employedto manipulate aligner 118, as required, to achieve the desiredorientation in holder 302. For example, orienting device 308 gripsaligner 118 having the top-down, orientation and removes it from holder302. Indexing table 214 continues to rotate the same holder 302 to thenext incremental position. Simultaneously orienting device 308 rotatesaligner 118 180° to achieve a top-up orientation. Orienting device 308then replaces aligner 118 back into its same holder 302.

As shown in FIG. 3D, indexing table 214 then indexes to a ‘code’ readstation 310. Code read station 310 includes a vision system 316including a processor or computer. Vision system 316 reads anidentification mark preformed on aligner 118, such as a laser code. Thecomputer is used to access the vision system software for initial setupof the code read or for re-programming.

In operation, vision system 316 identifies aligner 118 and maps thealigner to a carrier 402, (hereinafter puck 402, see FIGS. 1B and 4 )used to ferry aligner 118 through the remaining sorting process. In oneembodiment, each puck 402 is identified using an ID system, such as thatwhich uses a small RFID for identification and tracking purposes. AnRFID tagging system includes the tag, a read/write device, and a hostsystem application, for data collection, processing, and transmission.An RFID tag may include a chip, memory and an antenna.

As shown in FIG. 4 , after an aligner 118 has been identified and mappedto puck 402 at code read station 310 (FIG. 3D), indexing table 214 movesto an ‘unload’ station where pick and place unit 404, for example, arobot arm with a vacuum end arm tool, unloads aligner 118, and placesaligner 118 into puck 402, which is being conveyed on conveyor 406. Pickand. place unit 404 may be designed to unload any volume of parts, forexample, two at a time.

“No reads” from vision system 316 may occur from time to time due to anillegible code on part 201. If this occurs, vision system 316 sends a“no read” signal to a manual quality control station. The RFID tag onpuck 402 to be mapped to the unidentified part 201 is marked with a “noread” bit and routed to the manual quality control station foridentification.

2. Sorting Buffer Cell

As previously described, pucks 402 including parts 201 are conveyed fromload cell 104 to sorting buffer cell 106 or, in the case of the ‘noreads’, to exceptions handling cell 108. Sorting buffer cell 106 is usedto group parts 201 into predetermined groups. Thus, the randomly loadedparts 201 that enter load cell 104 are placed into predetermined groupsas desired.

In one embodiment, as shown in FIGS. 5 and 6A, sorting buffer cell 106includes a conveyor 502, a reader 504, such as an RF reader or theequivalent, and a walking beam 600. In operation, pucks 402 travel onconveyor 502 past reader 504 to walking beam 600. Reader 504 identifiespuck 402, which includes the unique part 201, as part of a specificgrouping of parts 201. For example, in one embodiment, part 201 isaligner 118 having a unique shape and size. Aligner 118 may be one of agroup of aligners representing a full prescription of aligners 118 foruse with a single patient. Thus, as reader 504 identifies pucks 402including aligners 118 as belonging to the predetermined prescription,processing capabilities associated with reader 504 cause pucks 402 to betemporarily assigned to one of a number of buffer lanes 604 (FIG. 6A)designated for aligners 118 for the predetermined prescription. Thus,assignment of buffer lanes 604 corresponds with the desired grouping.Thus, each new “case”, “group” or “prescription” to enter walking beam600 has a new buffer lane 604 assigned. Buffer lanes 604 are assigned tocases in a logical order. If the size of the grouping requires more thanone buffer lane 604, the order is logically split among buffer lanes604. For example, if a case exceeds 50 aligners 118, the case isassigned two buffer lanes 604 and pucks 402 are separated according tocase or prescription number.

As shown in FIG. 6A, in operation, walking beam 600, includes a bufferconveyor 602, buffer lanes 604 and pushers 606. In operation, afterreader 504 (FIG. 5 ) reads the ID, such as the RFID tag on puck 402,puck 402 is conveyed to buffer conveyor 602. In one embodiment, bufferconveyor 602 may be equipped with a motor and encoders (not shown.) sothat each revolution of the motor equals one puck move or step.

In operation, as shown, in FIG. 6B, to advance pucks (1, 2, 3) from infront of corresponding buffer lanes (A, B, C) to in front ofcorresponding buffer lanes (B, C, D), buffer conveyor 602 moves oneincrement to the right casing pucks (1, 2, 3) to move one position.Buffer conveyor 602 then moves back away from pucks (1, 2, 3) and thento the left. Once back in its original position, buffer conveyor 602moves forward to once again surround pucks (1, 2, 3). Pucks 402 areadvanced in this controlled stepping motion so that each puck 402 may bepaused at the head of each new buffer lane 604 before being moved to thehead of the next buffer lane 604.

Once puck 402 has reached the head of its assigned buffer lane 604, puck402 is pushed, while paused, out of the path of buffer conveyor 602.Puck 402 is pushed using pushers 606 into sorting buffer lanes 604. Inone embodiment, pushers 606 may be pneumatically or hydraulicallyactivated pistons. Alternatively, pucks 402 may be pushed into bufferlanes 604 using a robotic picker or a burst of air and the like.

Accordingly, pucks 402 accumulate in their assigned buffer lanes 604until all aligners 118 entering load cell 104 are sorted into theirassociated groups. In one embodiment, when a buffer lane 604 is filledwith a completed group, such as a full prescription of aligners 118, thegroup may be released to the unload section of sorting buffer cell 106.In one embodiment, buffer lanes 604 may be about 35 feet long and 4 feetwide and may have a belt speed for moving pucks 402 down the lane ofabout 60 ft/minute. Buffer lanes 604 also may include a series ofrelease gates (not shown) for allowing the removal of a group of pucks402. Buffer lanes 604 are released one at a time from the unload sectionof sorting buffer cell 106 to puck sequencing cell 114.

In one embodiment, the gross production rate for sorting buffer cell 106may be about 60 parts per minute. In addition, sorting buffer cell 106may include up to 30 buffer lanes 604, which may hold up to 50 pucks402, yielding an overall capacity of 3000 pucks 402. In addition,sorting buffer cell 106 may also have a downstream capacity equal tothat of the upstream capacity.

In the event that reader 504 (FIG. 5 ) is unable to read an RFID tag,the unidentified puck 402 may be routed to the manual quality controlstation where an operator may need to manually re-enter the unidentifiedpuck into the system. If the operator manually re-enters theunidentified puck into the system before the batch has completed itscycle, the puck is sent to the proper buffer lane 604. Subsequently, thecompleted group of pucks is directed to puck sequencing cell 114.

3. Puck Sequencing Cell

After aligners 118 are grouped into buffer lanes 604, they are nextplaced in a predetermined sequence. As illustrated in FIG. 7 , pucksequencing cell 114 includes sequencing walking beam 702 and stop/starttake away conveyor 706, which may be running at 60 ft/min. Prior toentering puck sequencing cell 114, pucks 402 index past an RFID readersimilar to that shown in FIG. 5 . The reader reads the RFID tagassociated with puck 402 and places the value in a moving register.Pucks 402 are then indexed to the corresponding sequencing lane 704.Sequencing walking beam 702 may be equipped with a motor and an encoder(not shown) so that each revolution of the motor equals one puck movefollowed by a pause in the same manner as described above with regard toFIGS. 6A and 6B. Each time the pucks 402 move, the RFID number is movedaccordingly in the register.

Once puck 402 has reached its assigned position, puck 402 is pushedusing pushers 708 during the pause out of the path of sequencing walkingbeam 702 and onto start/stop take away conveyor 706 into an assignedlane 704. This process repeats until the maximum number of parts is intheir correct positions in lanes 704. Once it has been verified that allpucks 402 have made it to the proper positions, puck sequencing cell 114releases the group of parts 201 to packaging cell 116.

In one example, aligners 118 in pucks 402 are to be placed in a sequencenumbered 1-N for clarity. Pucks 402 are conveyed and transferred tosequencing walking beam 702 and moved past sequencing lanes 704.Sequencing lanes 704 of stop/start take away conveyor 706 are assigned 1through N lanes 704, for example, 1-50. As puck 402 is positioned bysequencing walking beam 702 in front of the proper sequencing lane 704,puck 402 with aligner 118 is transferred onto the stop/start take awayconveyor 706. Once all pucks 402 are transferred, which means thataligners 118 for a particular prescription are positioned in the desirednumber sequence, pucks 402 are released by conveyor 706 and are moved inthe desired sequence to packaging cell 116 for further processing.Sequencing walking beam 702 and transfer designs may be identical tothose used in walking beam 600 of sorting buffer cell 106.

In one embodiment, puck sequencing cell 114 may operate at a rate of 45PPM and may be able to buffer a maximum of 50 aligners 118.

Referring again to FIGS. 5 and 6A, it may happen that a puck 402 holdingaligner 118 is not identified by reader 504 (FIG. 5 ) and may need to bere-circulated. Meanwhile, the group of identified pucks 402 continues tobe held in a particular buffer lane 604 until all associated aligners118 of a particular group are gathered in the designated buffer lanes604. In one embodiment, after a default time has been reached, theincomplete group of identified pucks 402 may be diverted to anincomplete case storage cell 112.

4. Incomplete Case Storage Cell

Incomplete groups or cases 801 of parts 201 are routed from sortingbuffer cell 106 to incomplete case storage cell 112 (hereinafter“storage cell 112”). As shown in FIG. 8 , pucks 402 move via a conveyor803, to an unloading station 816 and are picked-and-placed via apick-and-place mechanism 802 to a pallet 804. When pallet 804 is loadedit travels to a standard Inserter/Extractor (I/E) unit 808. In oneembodiment, I/E unit 808 causes pallet 804 to move to a shelf 810 in ahorizontal carousel 812 for storage. When the last missing aligners 118of an associated group 801 makes it to storage cell 112, I/E unit 808picks pallet 804 with the associated aligners 118 and places pallets 804onto a conveyor for transport to a loading station. At the loadingstation, the group is completed. The group of pucks 402, now completed,is moved to puck sequencing cell 114.

In one operational embodiment, incomplete cases 801, which areidentified at sorting buffer cell 106, are routed to storage cell 112via conveyor system 803. Pucks 402, including aligners 118, stop at aloading/unloading station 816 where a maximum of four pucks 402 arepicked and placed using pick-and-place mechanism 802 onto pallet 804. Inthis embodiment, a maximum of 16 pucks 402 are held on a 4×4 pallet 804with a maximum of 4 different cases or groups 801 stored on each pallet804.

Pallet 804 moves via a conveyor 807 to I/E unit 808. I/E unit 808vertically moves pallet 804 to access particular shelves 810 locatedwithin carousel bins 814 in horizontal carousel 812 for storage.

When the last missing aligner 118 of a particular case 801 moves tostorage cell 112, the system reverses the storage process and removesthe proper pucks 402 (i.e. pallets) for the particular case 801. Pallets804 housing the remaining aligners 118 are removed from horizontalcarousel 812 using I/E unit 808 and are placed back on conveyor 807.Pallets 804 are then transported to the loading/unloading location 816.Pucks 402 are picked and placed back onto main conveyor 803 and helduntil all aligners 118 for that case 801 are once again present. Afterall pucks 402 are in position and ease 801 is full, case 801 is releasedto puck sequencing cell 114.

In one operational embodiment, storage cell 112 may operate at a rate of4 pallets per minute or up to 64 pucks per minute if all 16 places oneach pallet are full.

Storage cell 112 handles incomplete cases 801 and stores them until suchtime that it has been verified that all parts 201 have arrived. In oneembodiment, cases 801 may be resolved within 24 hours. In oneembodiment, a query may be made for a list of aligners 118 stored instorage cell 112, which may be sorted by “time in”.

In one embodiment, it may be possible to get a “no pick” from the pickand place mechanism 802 either from conveyor 803 to pallet 804 or frompallet 804 to the conveyor. If this occurs, pick-and-place mechanism802, after placing pucks 402 it has already picked, goes back to the “nopick” position and re-picks the missing puck 402.

5. Exceptions Handling Cell

If a puck 402 is marked “no read” at load cell 104 or sorting buffercell 106, the non-read puck 402 is diverted to exceptions handling cell108, which includes one or more manual quality control stations 900.Manual quality control station 900 may include an RF reader 902 providedto read the RFID tag on puck 402. Manual quality control station 900 mayalso include a computer terminal 904 that allows an operator to manuallyenter the code number of puck 402 and aligner 118 and thus initialize itin the system. The operator may release the puck 402 and so it may bemerged back into the main line ahead of sorting buffer cell 106. If theoperator can enter the information before the current batch of aligners118 has been transferred to the discharge end of sorting buffer cell 106then it can be sent to the proper buffer lane 604 (FIG. 6A) just as ifpuck 402 had come from load cell 104. If, however, the operator cannotenter aligner 118 in time, puck 402 is sent through sorting buffer cell106 to storage cell 112. Alternatively, manual quality control station900 can also introduce direct batches of parts that do not enter thesorting system through load cell 104.

In accordance with the present invention, each cell of the presentinvention includes routing capabilities that are well known in the art.Routing system 110 includes, for example, a series of conveyors withmerge and divert units routing pucks 402 throughout sorting system 100.Conveyors and conveying techniques are used to rout pucks 402 from theload cell to the sorting buffer cell or to the manual quality controlstation and back to the load cell, from the sorting buffer cell to theincomplete case storage cell and/or the puck sequencing cells, and fromthe puck sequencing cells to the packaging cell or to the manual qualitycontrol station and back to the load cell.

In one operational embodiment, routing of pucks 402 is done using aplurality of multiple conveyors and part conveying techniques, withmerge and divert units. In one example, with no intention to limit theinvention, a first conveyor routs pucks from load cell 104 to sortingbuffer cell 106 or exceptions handling cell 108 and back to load cell104. The first conveyor includes merge and divert units to allow “noread” pucks to go to the manual quality control station. A secondconveyor routs pucks 402 from sorting buffer cell 106 to incomplete casestorage cell 112 and/or puck sequencing cell 114. The second conveyorincludes a plurality of merge and divert units. A first divert unitallows a puck 402 to go to one of two puck sequencing cells and a seconddivert unit allows pucks 402 to go to incomplete case storage cell 112.A third conveyor routs pucks 402 from puck sequencing cell 114 topackaging ceil 116 or to exceptions handling cell 108 and back to loadcell 104. A third conveyor may include two merge units and one divertunit. The divert unit allows pucks 402 to go to either the load cell 104or a second manual quality control station. The conveyors may ran at anyappropriate speed, for example, at a speed of 60 feet per minuteallowing for a puck throughput rate of at least 60 parts per minute oneach conveyor. Conveyors and conveying techniques are well known and areavailable from, for example, FlexLink Systems, Inc. of Allentown,Pennsylvania.

While the present invention has been shown and described with referenceto specific embodiments thereof, it will be understood by those skilledin the art that various changes in form and details may be made thereinwithout departing from the spirit and scope of the invention.

1. (canceled)
 2. A method comprising: receiving sensor data of aplurality of dental appliances, each dental appliance associated with anidentifier including (a) group data indicating a group to which thedental appliance belongs, and (b) sequence data indicating a sequentialposition for the dental appliance within the group; determining thegroup data and the sequence data for each dental appliance based on thesensor data; controlling a sorting cell to sort the plurality of dentalappliances by directing each dental appliance into one of a plurality ofbuffer locations based on the group data for the dental appliance,wherein each buffer location is configured to hold a set of dentalappliances belonging to the same group; and controlling a sequencingcell to sequence the set of dental appliances associated with eachbuffer location by placing each dental appliance into a position withinthe corresponding set of dental appliances based on the sequence datafor the dental appliance.
 3. The method of claim 2, wherein the sensordata comprises data from a vision system.
 4. The method of claim 2,wherein the sensor data comprises data from one or more RFID readers. 5.The method of claim 2, wherein the identifier comprises amachine-readable code.
 6. The method of claim 2, wherein the pluralityof dental appliances comprises a plurality of aligners for repositioninga patient's teeth.
 7. The method of claim 2, wherein each dentalappliance is fabricated based on a digital data set representing anarrangement for a patient's teeth.
 8. The method of claim 2, furthercomprising controlling a load cell to position each dental appliance ona carrier.
 9. The method of claim 8, wherein the sorting and sequencingprocesses are performed while each dental appliance is positioned on thecorresponding carrier.
 10. The method of claim 8, further comprisingmapping the identifier associated with each dental appliance to a tag onthe corresponding carrier.
 11. The method of claim 10, furthercomprising: reading the tag on the corresponding carrier for each dentalappliance, controlling the sorting cell to direct each dental applianceinto the one of the plurality of buffer locations based on the tag, andcontrolling the sequence cell to place each dental appliance into theposition within the corresponding set of dental appliances based on thetag.
 12. The method of claim 10, further comprising storing the mappingbetween the identifier and the tag in a database.
 13. The method ofclaim 2, further comprising: determining that a set of dental appliancesheld at a buffer location represents a complete group, and controllingthe sorting cell to transfer the set of dental appliances to anotherlocation for sequencing.
 14. The method of claim 2, further comprising:determining that a set of dental appliances is in a correct sequence,and controlling the sequencing cell to transfer the set of dentalappliances to another location for packaging.
 15. The method of claim 2,further comprising: determining that an identifier associated with adental appliance is unreadable, and controlling a load cell to transferthe dental appliance to another location for identification.
 16. Amethod comprising: receiving sensor data of a plurality of objects, eachobject associated with an identifier including: (a) group dataidentifying a group to which the object belongs, wherein objects withinthe same group are prescribed for use by a single patient, and (b)sequence data identifying a sequential position for the object withinthe group, wherein the sequential position indicates an order in whichthe object is to be used by the corresponding single patient;determining the group data and the sequence data for each object basedon the sensor data; controlling a sorting cell to sort the plurality ofobjects by directing each object into one of a plurality of bufferlocations based on the group data for the object, wherein each bufferlocation is configured to hold a set of objects belonging to the samegroup; and controlling a sequencing cell to sequence the set of objectsassociated with each buffer location by placing each object into aposition within the corresponding set of objects based on the sequencedata for the object.
 17. The method of claim 16, wherein the pluralityof objects comprises a plurality of thermoformed, customized objects.18. The method of claim 16, wherein each object is fabricated from adigital data set representing a prescription for the correspondingsingle patient.
 19. The method of claim 16, further comprising:positioning each object on a carrier, mapping the identifier associatedwith each object to a tag on the corresponding carrier, reading the tagon the corresponding carrier for each object, controlling the sortingcell to direct each object into the one of the plurality of bufferlocations based on the tag, and controlling the sequencing cell to placeeach object into the position within the corresponding set of objectsbased on the tag.
 20. The method of claim 16, further comprising:determining that a set of objects is in a correct sequence andrepresents a complete group, and controlling the sequencing cell totransfer the set of objects to another location for packaging.
 21. Themethod of claim 16, further comprising: determining that an identifierassociated with an object is unreadable, and controlling a load cell totransfer the object to another location for identification.